HEIDENHAIN PROFIBUS-DP (DPV2) - Manual (Page 39)

PROFIBUS IO data description
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5.4 Standard telegrams
Configuration of the devices is made by choosing different
telegram structures. The telegrams are used to specify the data
length and which type of data that are sent to and from the
master. The supported telegrams for the different devices are
shown in table 12 below.
Telegram Encoder gateway Absolute encoder
Standard telegram 81 Supported Supported
Standard telegram 82 Supported Not supported
Standard telegram 83 Supported Not supported
Standard telegram 84 Supported Not supported
Table 12 Supported telegrams
5.4.1 Standard telegram 81
Standard telegram 81 uses 4 bytes for output data from the
master to the device and 12 bytes of input data from the device to
the master.
Output data from the master:
2 bytes Control word 2 (STW2_ENC)
2 bytes Control word (G1_STW)
IO Data (word) 1 2
Set point STW2_ENC G1_STW
Input data to the master:
2 bytes Status word 2 (ZSW2_ENC)
2 bytes Status word (G1_ZSW)
4 bytes Position value 1 (G1_XIST1)
4 bytes Position value 2 (G1_XIST2)
IO Data (word) 1 2 3 4 5 6
Actual value ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2